System and method for controlling the direction of travel of an agricultural implement

ABSTRACT

In one aspect, a system for controlling the direction of travel of agricultural implements may include a work vehicle having a vehicle-based controller configured to control an operation of a valve provided in operative association with the work vehicle. The system may also include an agricultural implement configured to be towed by the work vehicle. The implement may include a sensor configured to detect an operational parameter indicative of a direction of travel of the implement. The implement may also include an actuator configured to adjust the direction of travel of the implement, with the actuator being fluidly coupled to the valve such that the valve is configured to control an operation of the actuator. The implement may further include an implement-based controller configured to initiate control of the operation of the valve based on sensor data received from the sensor to adjust the direction of travel of the implement.

FIELD

The present disclosure generally relates to agricultural implements and,more particularly, to systems and methods for controlling the directionof travel of an agricultural implement being towed by a work vehicle.

BACKGROUND

Agricultural implements, such as planters, cultivators, pull-typesprayers, nutrient applicators, and/or the like, are configured to betowed across a field by a suitable work vehicle, such as an agriculturaltractor. While traversing the field, the implement is configured toperform one or more operations on the field, such as planting seeds,cultivating the soil, and/or applying pesticides, nutrients, and/orother agricultural substances. In many instances, to maintain thedesired precision of the operation(s) being performed by the implement,it is necessary that the implement have a generally constant orientationor position relative to the work vehicle.

Accordingly, an improved system and method for controlling the directionof travel of an agricultural implement would be welcomed in thetechnology.

BRIEF DESCRIPTION

Aspects and advantages of the technology will be set forth in part inthe following description, or may be obvious from the description, ormay be learned through practice of the technology.

In one aspect, the present subject matter is directed to a system forcontrolling the direction of travel of agricultural implements. Thesystem may include a work vehicle including a vehicle-based controller,with the vehicle-based controller being configured to control anoperation of a valve provided in operative association with the workvehicle. The system may also include an agricultural implementconfigured to be towed by the work vehicle. The implement may include asensor configured to detect an operational parameter indicative of adirection of travel of the implement. The implement may also include anactuator configured to adjust the direction of travel of the implement,with the actuator being fluidly coupled to the valve such that the valveis configured to control an operation of the actuator. The implement mayfurther include an implement-based controller supported on the implementand being communicatively coupled to the sensor. The implement-basedcontroller may be configured to initiate control of the operation of thevalve based on sensor data received from the sensor to adjust thedirection of travel of the implement.

In another aspect, the present subject matter is directed to a methodfor controlling the direction of travel of agricultural implements. Themethod may include monitoring, with an implement-based computing deviceinstalled on the implement, an operational parameter indicative of adirection of travel of an agricultural implement as the implement isbeing towed across a field by a work vehicle. The work vehicle mayinclude a vehicle-based computing device configured to control anoperation of a valve provided in operative association with the workvehicle. The method may also include comparing, with the implement-basedcomputing device, the monitored operational parameter to at least onethreshold parameter value. Furthermore, when the monitored operationalparameter exceeds or falls below the least one threshold parametervalue, the method may include initiating, with the implement-basedcomputing device, control of the operation of the valve to actuate anactuator of the implement in a manner that adjusts a direction of travelof the implement.

These and other features, aspects and advantages of the presenttechnology will become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the technology and, together with the description, serveto explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present technology, including thebest mode thereof, directed to one of ordinary skill in the art, is setforth in the specification, which makes reference to the appendedfigures, in which:

FIG. 1 illustrates a top view of one embodiment of an agriculturalimplement coupled to a work vehicle in accordance with aspects of thepresent subject matter;

FIG. 2 illustrates a perspective view of the agricultural implementshown in FIG. 1, particularly illustrating various components of theimplement;

FIG. 3 illustrates a top view of one embodiment of a track assembly ofan agricultural implement in accordance with aspects of the presentsubject matter;

FIG. 4 illustrates a schematic view of one embodiment of a system forcontrolling the direction of travel of an agricultural implement inaccordance with aspects of the present subject matter; and

FIG. 5 illustrates a flow diagram of one embodiment of a method forcontrolling the direction of travel of an agricultural implement inaccordance with aspects of the present subject matter.

Repeat use of reference characters in the present specification anddrawings is intended to represent the same or analogous features orelements of the present technology.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments of the invention,one or more examples of which are illustrated in the drawings. Eachexample is provided by way of explanation of the invention, notlimitation of the invention. In fact, it will be apparent to thoseskilled in the art that various modifications and variations can be madein the present invention without departing from the scope or spirit ofthe invention. For instance, features illustrated or described as partof one embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

In general, the present subject matter is directed to systems andmethods for controlling the direction of travel of an agriculturalimplement being towed by a work vehicle across a field. In severalembodiments, the work vehicle may include a vehicle-based controller(s)configured to control the operation of a valve(s) provided in operativeassociation with the vehicle. Furthermore, the implement may include asensor(s) coupled thereto that is configured to detect an operationalparameter indicative of the direction of travel of the implement.Moreover, the implement may also include an actuator configured toadjust the direction of travel of the implement, with the actuator beingfluidly coupled to the valve(s) on the work vehicle such that the valveis configured to control the operation of the actuator. In this regard,an implement-based controller(s) supported on the implement may beconfigured to initiate control of the operation of valve of the workvehicle based on data received from the sensor to allow the direction oftravel of the implement to be adjusted. For instance, upon receipt ofthe data from the sensor, the implement-based controller may beconfigured to transmit signals to the vehicle-based controller(s) (e.g.,via ISOBUS Class 3 communications protocols (ISO 11783-9)) requestingthe vehicle-based controller(s) to control the operation of the valve ina manner that adjusts or varies the direction of travel of theimplement. As such, based on the request from the implement-basedcontroller(s), the vehicle-based controller(s) may control the valve(s)such that the actuator adjusts or varies the direction of travel of theimplement.

Referring now to the drawings, FIGS. 1 and 2 illustrate differing viewsof one embodiment of an agricultural implement 10 in accordance withaspects of the present subject matter. Specifically, FIG. 1 illustratesa top view of the agricultural implement 10 coupled to a work vehicle12. Additionally, FIG. 2 illustrates a perspective view of the implement10, particularly illustrating various components of the implement 10.

In general, the work vehicle 12 may be configured to tow the implement10 across a field in a direction of travel (e.g., as indicated by arrow14 in FIG. 1). In several embodiments, the direction of travel 14 of theimplement 10 may be the direction of travel of a steerable component(e.g., a track assembly 42) of the implement 10. As shown, the workvehicle 12 may be configured as an agricultural tractor and theimplement 10 may be configured as an associated planter. However, inother embodiments, the work vehicle 12 may be configured as any othersuitable type of vehicle, such as an agricultural harvester, aself-propelled sprayer, and/or the like. Similarly, the implement 10 maybe configured as any other suitable type of implement, such as a tillageimplement.

As shown in FIG. 1, the work vehicle 12 may include a frame or chassis16 configured to support or couple to a plurality of components. Forexample, a pair of steerable front wheels 18 and a pair of driven rearwheels 20 may be coupled to the frame 16. The wheels 18, 20 may beconfigured to support the work vehicle 12 relative to the ground andmove the work vehicle 12 in the direction of travel across the field. Inthis regard, the work vehicle 12 may include an engine 22 and atransmission 24 mounted on the frame 16. The transmission 24 may beoperably coupled to the engine 22 and may provide variably adjusted gearratios for transferring engine power to the driven wheels 20. However,it should be appreciated that, in alternative embodiments, the front andrear wheels 18, 20 may be driven. Additionally, it should be appreciatedthat, in further embodiments, the work vehicle 12 may include a trackassembly(ies) (not shown) in place of the front and/or rear wheels 18,20. Furthermore, it should be appreciated that, in a further embodiment,the frame 16 may be articulated in addition to or in lieu of thesteerable wheels 18.

Moreover, one or more sensors 102, 104 may be provided in operativeassociation with the work vehicle 12. Specifically, in severalembodiments, the work vehicle 12 may include a speed sensor 102configured to detect a parameter associated with the speed at which thework vehicle 12 is moved across the field. For instance, in oneembodiment, the speed sensor 102 may be configured as a Hall Effectsensor configured to detect the rotational speed of an output shaft ofthe transmission 24 of the work vehicle 12. Furthermore, the workvehicle 12 may include a location sensor 104 configured to detect aparameter associated with a geographical or physical location of thework vehicle 12 within the field. For instance, in one embodiment, thelocation sensor 104 may correspond to a GPS receiver configured todetect the GPS coordinates of the work vehicle 12. However, it should beappreciated that, in alternative embodiments, the speed sensor 102 maybe configured as any suitable device for sensing or detecting the speedof the work vehicle 12 and/or the location sensor 104 may be configuredas any suitable location sensing device for detecting the location ofthe work vehicle 12. Furthermore, it should be appreciated that the workvehicle 12 may include other sensors in addition to or in lieu of thespeed sensor 102 and/or the location sensor 104.

Referring to FIGS. 1 and 2, the implement 10 may include a frame 26configured to support and/or couple to one or more components of theimplement 10. Specifically, in several embodiments, the frame 26 mayinclude a center section 28 and a pair of wings sections 30, 32. In oneembodiment, the wings sections 30, 32 may be pivotably coupled to centersection 28 in a manner that permits the wing sections 30, 32 to foldforward to reduce the lateral width of the implement 10, such as duringstorage or transportation of the implement 10 on a road. In suchembodiment, the implement 10 may include a pair of actuators 106 (onlyone actuator 106 is shown in FIG. 2), with each actuator 106 beingcoupled between one of the wings sections 30, 32 in the center section28. Furthermore, a tow bar 34 may be coupled to the center section 28 toallow the implement 10 to be towed by the work vehicle 12. Moreover, atrack assembly 42 may be coupled to the center section 28 to support atleast a portion of the frame 26 relative to the ground. As shown in FIG.2, the wing sections 30, 32 may generally be configured to support aplurality of seed planting units (or row units) 36. As is generallyunderstood, each row unit 36 may be configured to deposit seeds at adesired depth beneath the soil surface and at a desired seed spacing asthe implement 10 is being towed by the work vehicle 12, therebyestablishing rows of planted seeds. In some embodiments, the bulk of theseeds to be planted may be stored in one or more hoppers or seed tanks38 mounted on or otherwise supported by the frame 26. Thus, as seeds areplanted by the row units 36, a pneumatic distribution system (not shown)may distribute additional seeds from the seed tanks 38 to the individualrow units 36. Additionally, one or more fluid tanks 40 mounted on orotherwise supported by the frame 26 may store agricultural fluids, suchas insecticides, herbicides, fungicides, fertilizers, and/or the like,which may be applied during operation of the implement 10.

It should be appreciated that, for purposes of illustration, only aportion of the row units 36 of the implement 10 have been shown in FIG.2. In general, the implement 10 may include any number of row units 36,such as 6, 8, 12, 16, 24, 32, or 36 row units. In addition, it should beappreciated that the lateral spacing between row units 36 may beselected based on the type of crop being planted. For example, the rowunits 36 may be spaced approximately 30 inches from one another forplanting corn, and approximately 15 inches from one another for plantingsoybeans.

In accordance with aspects of the present disclosure, the implement 10may include one or more sensors 114 configured to detect an operationalparameter indicative of the direction of travel 14 of the implement 10.Specifically, in one embodiment, the operational parameter detected bythe sensor(s) 114 may be the location of the implement 10 within thefield. For example, in such embodiment, the sensor(s) 114 may include alocation sensor, such as a GPS receiver, configured to detect the GPScoordinates of the implement 10. In another embodiment, the operationalparameter detected by the sensor(s) 114 may be indicative of theorientation of the implement 10 relative to the vehicle 12. For example,in such embodiment, the sensor(s) 114 may include an orientation sensor,such as a potentiometric sensor or a strain gauge, configured to detectan angle defined between the implement 10 and the work vehicle 12. Infurther embodiments, the sensor(s) 114 may be configured to detectseedbed ridges, furrows, and/or any other suitable geographical or cropfeature feature(s) present within the field. In such embodiments, thesensor(s) may include a non-contact based sensor, such as a LIDARsensor, a RADAR sensor, an ultrasonic sensor, an image capture device(e.g., an RGB, NIR-RGB, or CIR camera), and/or the like. Alternatively,in such embodiments, the sensor(s) 114 may include a suitable contactbased sensor, such as potentiometric sensor, a load sensor, a torquesensor, or a strain gauge. However, it should be appreciated that, inalternative embodiments, the sensor(s) 114 may include any othersuitable type of sensor(s) and/or the sensor(s) 114 may be configured todetect any other suitable operational parameter(s) of the implement 10.Furthermore, although the sensor(s) 114 is schematically illustrated asbeing positioned on the center section 28 of the frame 26 in FIG. 2, itshould be appreciated that the sensor(s) 114 may be positioned in anyother suitable location on the implement 10.

Referring now to FIG. 3, one embodiment of a track assembly 42 suitablefor use with the implement 10 shown in FIGS. 1 and 2 is illustrated inaccordance with aspects of the present subject matter. In severalembodiments, the track assembly 42 may include an axle 44 coupled to thecenter section 28 of the frame 26. The track assembly 42 may alsoinclude a pair of tracks 46 that are pivotably coupled to the axle 44.For example, in one embodiment, each of the tracks 46 may be coupled toa corresponding knuckle 48, with each knuckle 48 being pivotably coupledto the axle 44 at a pivot joint 50. As such, the pivot joints 50 maypermit the tracks 46 to pivot or otherwise move relative to the axle 44in a manner that adjusts the direction of travel 14 of the implement 10(e.g., the direction of travel or orientation of the tracks 46).However, it should be appreciated that, in alternative embodiments, thetracks 46 of the track assembly 42 may be movably coupled to the frame26 in any other suitable manner that permits the direction of travel 14of the implement 10 to be adjusted. Furthermore, it should beappreciated that the implement 10 may include other componentsconfigured to adjust the direction of travel 14. For example, theimplement 10 may include one or more steerable wheels or coulters (notshown) that are configured to adjust the direction of travel 14 of theimplement 10.

Moreover, the track assembly 42 may include a pair of actuators 108configured to move the tracks 46 relative to the implement frame 26. Asshown, in several embodiments, a cylinder 110 of each actuator 108 maybe pivotably coupled to the center section 28 at pivot joints 52, whilea rod 112 of each actuator 108 may be pivotably coupled to one of theknuckles 48 at a pivot joint 54. As will be described below, the rods112 of the actuators 108 may be configured to extend and/or retractrelative to the cylinder 110 of the associated actuator 108 to move thetracks 46 relative to the center section 28 of the frame 26, which, inturn, adjusts the direction of travel 14 of the implement 10. In theillustrated embodiment, the actuators 108 correspond to fluid-drivenactuators, such as hydraulic or pneumatic cylinders. However, it shouldbe appreciated that the actuators 108 may correspond to any othersuitable type of actuator, such as electric linear actuators.Furthermore, it should be appreciated that the implement 10 may includeany other suitable number of actuators configured to adjust the positionof the tracks 46 relative to the frame 26, such as a single actuator orthree or more actuators.

Moreover, it should be appreciated that the configuration of theimplement 10, the work vehicle 12, and the track assembly 42 describedabove and shown in FIGS. 1-3 is provided only to place the presentsubject matter in an exemplary field of use. Thus, it should beappreciated that the present subject matter may be readily adaptable toany manner of implement, work vehicle, and/or hitch assemblyconfigurations.

Referring now to FIG. 4, a schematic view of one embodiment of a system100 for controlling the direction of travel of an agricultural implementbeing towed by a work vehicle is illustrated in accordance with aspectsof the present subject matter. In general, the system 100 will bedescribed herein with reference to the implement 10, the work vehicle12, and the track assembly 42 described above with reference to FIGS.1-3. However, it should be appreciated by those of ordinary skill in theart that the disclosed system 100 may generally be utilized withimplements having any other suitable implement configuration, workvehicles having any other suitable work vehicle configuration, and/ortrack assemblies having any other suitable assembly configuration.

As shown in FIG. 4, the system 100 may include one or moreimplement-based controllers 116 positioned on and/or within or otherwiseassociated with the implement 10. In general, the implementcontroller(s) 116 may comprise any suitable processor-based device knownin the art, such as a computing device or any suitable combination ofcomputing devices. Thus, in several embodiments, the controller(s) 116may include one or more processor(s) 118 and associated memory device(s)120 configured to perform a variety of computer-implemented functions.As used herein, the term “processor” refers not only to integratedcircuits referred to in the art as being included in a computer, butalso refers to a controller, a microcontroller, a microcomputer, aprogrammable logic controller (PLC), an application specific integratedcircuit, and other programmable circuits. Additionally, the memorydevice(s) 120 of the controller(s) 116 may generally comprise memoryelement(s) including, but not limited to, a computer readable medium(e.g., random access memory (RAM)), a computer readable non-volatilemedium (e.g., a flash memory), a floppy disc, a compact disc-read onlymemory (CD-ROM), a magneto-optical disc (MOD), a digital versatile disc(DVD), and/or other suitable memory elements. Such memory device(s) 120may generally be configured to store suitable computer-readableinstructions that, when implemented by the processor(s) 118, configurethe implement controller(s) 116 to perform various computer-implementedfunctions, such as one or more aspects of the method 200 described belowwith reference to FIG. 5. In addition, the implement controller(s) 116may also include various other suitable components, such as acommunications circuit or module, one or more input/output channels, adata/control bus and/or the like.

It should be appreciated that the implement controller(s) 116 maycorrespond to an existing controller(s) of the implement 10, itself, orthe controller(s) 116 may correspond to a separate processing device(s).For instance, in one embodiment, the implement controller(s) 116 mayform all or part of a separate plug-in module that may be installed inassociation with the implement 10 to allow for the disclosed systems andmethods to be implemented without requiring additional software to beuploaded onto existing control devices of the implement 10. It shouldalso be appreciated that the functions of the implement controller(s)116 may be performed by a single processor-based device or may bedistributed across any number of processor-based devices, in whichinstance such devices may be considered to form part of the implementcontroller(s) 116.

Moreover, the system 100 may include one or more work vehicle-basedcontrollers 122 positioned on and/or within or otherwise associated withthe work vehicle 12. In general, the vehicle controller(s) 122 maycomprise any suitable processor-based device known in the art, such as acomputing device or any suitable combination of computing devices. Thus,in several embodiments, the controller(s) 122 may include one or moreprocessor(s) 124 and associated memory device(s) 126 configured toperform a variety of computer-implemented functions. Such memorydevice(s) 126 may generally be configured to store suitablecomputer-readable instructions that, when implemented by theprocessor(s) 124, configure the vehicle controller(s) 122 to performvarious computer-implemented functions, such as one or more aspects ofthe method 200 described below with reference to FIG. 5. In addition,the vehicle controller(s) 122 may also include various other suitablecomponents, such as a communications circuit or module, one or moreinput/output channels, a data/control bus and/or the like.

It should be appreciated that the vehicle controller(s) 122 maycorrespond to an existing controller(s) of the work vehicle 12, itself,or the controller(s) 122 may correspond to a separate processing device.For instance, in one embodiment, the vehicle controller(s) 122 may formall or part of a separate plug-in module that may be installed inassociation with the work vehicle 12 to allow for the disclosed systemsand methods to be implemented without requiring additional software tobe uploaded onto existing control devices of the work vehicle 12. Itshould also be appreciated that the functions of the vehiclecontroller(s) 122 may be performed by a single processor-based device ormay be distributed across any number of processor-based devices, inwhich instance such devices may be considered to form part of thevehicle controller(s) 122. For instance, the functions of the vehiclecontroller(s) 122 may be distributed across multipleapplication-specific controllers, such as an electro-hydraulic remote(EHR) valve controller, a navigation controller, and/or the like.

In several embodiments, the implement controller(s) 116 may beconfigured to monitor an operational parameter(s) associated with thedirection of travel 14 of the implement 10 based on sensor data receivedfrom the implement-based sensor(s) 114. Specifically, the implementcontroller(s) 116 may be communicatively coupled to the sensor(s) 114via a wired or wireless connection to allow sensor data (e.g., indicatedby dashed lines 128 in FIG. 4) to be transmitted from the sensor(s) 114to the controller(s) 116. The implement controller(s) 116 may then beconfigured determine or estimate the operational parameter based on thesensor data 128 received from the sensor(s) 114. For instance, theimplement controller(s) 116 may include a look-up table, suitablemathematical formula, and/or algorithms stored within its memory 120that correlates the sensor data 128 to the operational parameter.

As indicated above, the operational parameter monitored by the implementcontroller(s) 116 may be indicative of the direction of travel 14 of theimplement 10, such as the location of the implement 10 within the fieldor the orientation of the implement 10 relative to the work vehicle 12or features within the field (e.g., seedbed ridges). For example, in oneembodiment, the parameter may be an angle defined between theorientation of the implement 10 and an orientation of the vehicle 12 orthe orientation of the implement 10 and an orientation of the crop rowswithin the field.

Furthermore, in one embodiment, the implement controller(s) 116 may beconfigured to compare the monitored operational parameter to one or moredesired operational parameter ranges. For instance, the implementcontroller(s) 116 may be configured to compare the values associatedwith the monitored parameter to a predetermined operational parameterrange defined for the implement 10. Thereafter, in the event that themonitored operational parameter exceeds a maximum operational parameterthreshold for the given operational parameter range or falls below aminimum operational parameter threshold for such range (therebyindicating that the operational parameter of the implement 10 may be toohigh or too low), the implement controller(s) 116 may be configured toinitiate control of the operation of a valve(s) 130 provided inoperative association with the work vehicle 12. As will be describedbelow, the valve(s) 130 may be configured to control the operation ofthe actuators 108 on the implement 10 in a manner that adjusts thedirection of travel 14 of the implement 10.

As indicated above, in several embodiments, the operational parametermay be indicative of the orientation of the implement 10 relative to thevehicle 12 or the feature(s) (e.g., seedbed ridges) within the field,such as an angle defined between the direction of travel 14 of theimplement 10 and a direction of travel of the vehicle 12 or between thedirection of travel 14 of the implement 10 and an orientation of theseedbed ridges. In such embodiments, the implement controller(s) 116 maybe configured to compare the monitored direction of travel 14 of theimplement 10 to a target direction of travel of the implement 10 inorder to determine a differential defined therebetween. Thereafter, inthe event that the determined travel direction differential exceeds anassociated predetermined differential threshold (thereby indicating thatthe difference between the monitored direction of travel and the targetdirection of travel may be too great), the implement controller(s) 116may be configured to initiate control of the operation of the valve(s)130 on the work vehicle 12 to adjust or regulate the direction of travel14 of the implement 10.

In several embodiments, the one or more implement controllers 116 may beconfigured to request the vehicle controller(s) 122 to control theoperation of the valve(s) 130 on the work vehicle 12. Specifically, asshown in FIG. 4, the implement controller(s) 116 may be communicativelycoupled to the one or more vehicle controller(s) 122 via a wired orwireless connection to allow request signals (e.g., indicated by dashedlines 132 in FIG. 4) to be transmitted from the implement controller(s)116 to the vehicle controller(s) 122. For example, in one embodiment,the request signals 132 may be transmitted from the implementcontroller(s) 116 to the vehicle controller(s) 122 via ISOBUS Class 3(ISO 11783-9) communications protocols. However, in alternativeembodiments, the request signals 132 may be transmitted via suitable CANbus communications protocols or any other suitable communicationsprotocols. Upon receipt of the request signals 132, the vehiclecontroller(s) 122 may be configured to determine whether to control theoperation of the valve(s) 130 in the manner requested by the implementcontroller(s) 116.

In one embodiment, the vehicle controller(s) 122 may be configured todetermine when to control the valve(s) 130 in the manner requested bythe implement controller(s) 116 based on the speed of the vehicle 12.Specifically, the vehicle controller(s) 122 may be communicativelycoupled to the speed sensor 102, via wired or wireless connection toallow measurement signals (e.g., as indicated by dashed line 134 in FIG.4) to be transmitted from the speed sensor 102 to the vehiclecontroller(s) 122. As such, the vehicle controller(s) 122 may beconfigured to determine or estimate the current speed at which thevehicle 12 is moving across the field. For instance, the vehiclecontroller(s) 122 may include a look-up table or suitable mathematicalformula stored within its memory 126 that correlates the sensormeasurements to the current speed of the vehicle 12. Thereafter, thevehicle controller(s) 122 may be configured to compare the determinedspeed of the vehicle 12 to a predetermined minimum vehicle speedthreshold. When the determined speed of the vehicle 12 exceeds thepredetermined minimum vehicle speed threshold, the vehicle controller(s)122 may be configured to control the valve(s) 130 in the mannerrequested by the implement controller(s) 116. Conversely, when thedetermined speed of the vehicle 12 falls below the predetermined minimumvehicle speed threshold, the vehicle controller(s) 122 may be configuredto ignore the request signals 132 received from the implementcontroller(s) 116.

In another embodiment, the vehicle controller(s) 122 may be configuredto determine when to control the valve(s) 130 in the manner requested bythe implement controller(s) 116 based on the location of the vehicle 12within the field. Specifically, the vehicle controller(s) 122 may becommunicatively coupled to the location sensor 104, via wired orwireless connection to allow location signals (e.g., as indicated bydashed line 136 in FIG. 4) to be transmitted from the location sensor104 to the vehicle controller(s) 122. As such, the vehicle controller(s)122 may be configured to determine or estimate the current location ofthe vehicle 12 within the field. For example, the vehicle controller(s)122 may be configured to compare this determined location to a mapstored within its memory 126 to determine the location of the vehicle 12within the field. Based on the location of the work vehicle 12 withinthe field, the vehicle controller(s) 122 may be configured to determinewhen the performance of field operations by the implement 10 has ceased,such as when the vehicle 12 is positioned proximate to and/or within aheadland or area of boundary or swath overlap. In such instances, thevehicle controller(s) 122 may be configured to ignore the requestsignals 132 received from the implement controller(s) 116.

As indicated above, the vehicle controller(s) 122 may be configured tocontrol the operation of the valve(s) 130 to adjust the direction oftravel 14 of the implement 10. For instance, in the illustratedembodiment, the vehicle controller(s) 122 is communicatively coupled tothe valves(s) 130 to allow control signals (e.g., indicated by dashedlines 138 in FIG. 4) to be transmitted from the vehicle controller(s)122 to the valves(s) 130. In this regard, the vehicle controller(s) 122may be configured to control the operation of the valves(s) 130 in amanner that regulates the flow state, flow rate, and/or pressure of thehydraulic fluid supplied to the actuators 108 on the implement 10 from areservoir 140 of the work vehicle 12. In such an embodiment, the flowstate, flow rate, and/or pressure of the fluid supplied from thevalves(s) 130 may be associated with the amount of extension/retractionof the actuators 108, thereby allowing the vehicle controller(s) 122 tocontrol the displacement of the actuators 108. In one embodiment, thevalves(s) 130 may correspond to or be incorporated into anelectro-hydraulic remote (EHR) valve block.

Furthermore, in one embodiment, the valves(s) 130 may be provided influid communication with other actuators (e.g., the actuators 106) onthe implement 10. In such embodiment, the system 100 may include a flowsplitter 142 (e.g., a suitable solenoid valve or other two-way valve)configured to selectively direct the flow of hydraulic fluid provided bythe valves(s) 130 to either the actuators 108 or the other actuators onthe implement 10. For example, in the illustrated embodiment, the flowsplitter 142 is positioned on the implement 10 and communicativelycoupled to the implement controller(s) 116 to allow control signals 138(e.g., as indicated by dashed line 138 in FIG. 4) to be transmitted fromthe implement controller(s) 116 to the flow splitter 142. Furthermore,the flow splitter 142 may be provided in fluid communication with thevalves(s) 130, the actuators 106, and the actuators 108. As such, theflow splitter 142 may be configured to selectively divert the flow ofhydraulic fluid provided by the valves(s) 130 between the actuators 108and the actuators 106. In one embodiment, the implement controller(s)116 may be configured to control the operation of the flow splitter 142such that the flow of hydraulic fluid provided by the valve(s) 130 isdiverted to the actuators 108 when the monitored speed of the workvehicle 12 exceeds the predetermined minimum vehicle speed threshold.Additionally, the implement controller(s) 116 may be configured tocontrol the operation of the flow splitter 142 such that the flow ofhydraulic fluid provided to the valve(s) 130 is diverted to theactuators 108 when it is determined that the performance of a fieldoperations by the implement 10 has ceased (e.g., the work vehicle 12 andthe implement 10 are positioned within a headland). In such instances,the flow of hydraulic fluid provided by the valves(s) 130 may be used toadjust the direction of travel 14 of the implement 10. Conversely, theimplement controller(s) 116 may be configured to control the operationof the flow splitter 142 such that the flow of hydraulic fluid providedby the valves(s) 130 is diverted to the actuators 106 when the monitoredspeed of the work vehicle 12 falls below the predetermined minimumvehicle speed threshold and/or it is determined that the implement 10 iscurrently performing field operations (e.g., the work vehicle 12 and theimplement are positioned within a region of the field in which fieldoperations, such as seeding, are performed). In such instances, the flowof hydraulic fluid provided by the valves(s) 130 may be used to fold thewing sections 30, 32 of the implement frame 26 forward. However, itshould be appreciated that, in alternative embodiments, the flowsplitter 142 may be configured to divert the flow of hydraulic fluidprovided by the valves(s) 130 between the actuators 108 in any othersuitable actuators on the implement 10 and/or the work vehicle 12.Furthermore, it should be appreciated that, in further embodiments, theflow splitter 142 may be positioned on the work vehicle 12 andcommunicatively coupled to the vehicle controller(s) 122. Additionally,it should be appreciated that, in additional embodiments, the system 100may not include the flow splitter 142. In such embodiments, the flow ofhydraulic fluid provided by the valves(s) 130 flows directly to theactuators 108.

Additionally, in one embodiment, the vehicle controller(s) 122 may beconfigured to automatically adjust the speed at which the work vehicle12 is towing the implement 10 across the field when the monitoredoperational parameter falls outside of the predetermined range.Specifically, the vehicle controller(s) 122 may be communicativelycoupled to the engine 22 and/or the transmission 24 of the work vehicle12 via a wired or wireless connection to allow control signals 138 to betransmitted from the vehicle controller(s) 122 to the engine 22 and/orthe transmission 24. The control signals 138 may be configured toinstruct the engine 22 to vary its power output to increase or decreasethe speed of the work vehicle 12. For example, when the monitoredoperational parameter falls outside of the predetermined range, thecontrol signals 138 may instruct the engine 22 to decrease its poweroutput (e.g., by decreasing the fuel flow to the engine 22) such thatthe speed at which the work vehicle 12 is moved across the field isdecreased. Furthermore, the control signals 138 may be configured toinstruct the transmission 24 to upshift or downshift to change the speedof the work vehicle 12. For example, when the monitored operationalparameter falls outside of the predetermined range, the control signals138 may instruct the transmission 24 to downshift such that the speed atwhich the work vehicle 12 is moved across the field is decreased. Such areduction in vehicle speed may reduce or prevent the implement 10 fromoscillating relative to the vehicle 12. However, it should beappreciated that, in alternative embodiments, the vehicle controller(s)122 may be configured to transmit control signals 138 to any othersuitable component of the work vehicle 12 and/or implement 10 such thatthe speed of the work vehicle 12 and/or implement 10 is adjusted.

In several embodiments, the implement controller(s) 116 may beconfigured to control the operation of the valve(s) 130 based on datareceived from the vehicle controller(s) 122. As indicated above, in oneembodiment, the vehicle controller(s) 122 may be configured to receivelocation signals 136 from the location sensor 104 mounted on the vehicle12. In such embodiment, the vehicle controller(s) 122 may, in turn, beconfigured to transmit data (e.g., as indicated by dashed line 142 inFIG. 4), such as data indicative of the location of the vehicle 12within the field, to the implement controller(s) 116. Such data 142 maybe raw data (e.g., raw GPS coordinates) or processed/preprocessed data(e.g., a cross-track error of the vehicle 12). As such, in embodimentsin which the implement sensor(s) 114 correspond to location sensor(s)configured to detect the location of the implement 10 within the field,the implement controller(s) 116 may be configured to determine aparameter associated with the relative positioning between the implement10 and the vehicle 12. For example, in one embodiment, such parametermay be a differential in the headings of the implement 10 and thevehicle 12. In another embodiment, such parameter may be a differentialin the positioning of the implement 10 in the vehicle 12 relative to thecrop rows or other features within the field. In a further embodiment,such parameter may be a differential in the cross-track errors of theimplement 10 and the vehicle 12. Thereafter, in the event that thedetermined relative positioning parameter varies from a predeterminedrelative positioning (e.g., the heading differential falls outside of apredetermined range), the implement controller(s) 116 may be configuredto request that the vehicle controller(s) 122 control the operation ofthe valve(s) 130 on the work vehicle 12 in a manner that returns therelative positioning of the implement 10 and the vehicle 12 to thepredetermined relative positioning. However, it should be appreciatedthat, in alternative embodiments, the implement controller(s) 116 may beconfigured to initiate control of the valve(s) 130 based on any othersuitable data and/or parameter received from the vehicle controller(s)122.

In some embodiments, in addition to the implement 10, the work vehicle12 may be configured to tow a second implement (not shown) across thefield. In such embodiments, the second implement may correspond to anair cart or other bulk storage vehicle configured to carry seed,fertilizer, liquid nitrogen, anhydrous ammonia, and/or any othersuitable agricultural substance that may be dispensed onto the field bythe implement 10. Such second implement may be coupled to the workvehicle 12, with the implement 10 being coupled to the second implement.Alternatively, the implement 10 may be coupled to the work vehicle 12,with the second implement being coupled to the implement 10. Inembodiments in which the second implement includes steerable wheels ortracks, the system 100 may be configured to control the direction oftravel of the second implement in the same or a substantially similarmanner as the system 100 controls the direction of travel of theimplement 10 as described above.

Referring now to FIG. 5, a flow diagram of one embodiment of a method200 for controlling the direction of travel of an agricultural implementbeing towed by a work vehicle is illustrated in accordance with aspectsof the present subject matter. In general, the method 200 will bedescribed herein with reference to the implement 10, the work vehicle12, the track assembly and the system 100 described above with referenceto FIGS. 1-4. However, it should be appreciated by those of ordinaryskill in the art that the disclosed method 200 may generally be utilizedto control the operation of an agricultural implement being towed by awork vehicle for any agricultural implement having any suitableimplement configuration, work vehicles having any other suitable vehicleconfiguration, hitch assemblies having any other suitable assemblyconfiguration, and/or systems having any other suitable systemconfiguration. In addition, although FIG. 5 depicts steps performed in aparticular order for purposes of illustration and discussion, themethods discussed herein are not limited to any particular order orarrangement. One skilled in the art, using the disclosures providedherein, will appreciate that various steps of the methods disclosedherein can be omitted, rearranged, combined, and/or adapted in variousways without deviating from the scope of the present disclosure.

As shown in FIG. 5, at (202), the method 200 may include monitoring,with an implement-based computing device installed on the implement, anoperational parameter indicative of a direction of travel of anagricultural implement as the implement is being towed across a field bya work vehicle. For instance, as described above, one or more implementcontrollers 116 may be communicatively coupled to one or more sensors114 configured to monitor a given operational parameter(s) of theimplement 10 that is indicative of its direction of travel 14, such asthe location of the implement 10 within the field or the orientation ofthe implement 10 relative to the vehicle 12 or a feature(s) within thefield. As such, sensor data 128 transmitted from the sensor(s) 114 maybe received by the implement controller(s) 116 for monitoring theassociated operational parameter(s).

Additionally, at (204), the method 200 may include comparing, with theimplement-based computing device, the monitored operational parameter toat least one threshold parameter value. For instance, as describedabove, the implement controller(s) 116 may be configured to compare themonitored operational parameter(s) to at least one threshold parametervalue, such as a maximum parameter threshold and/or a minimum parameterthreshold. Assuming the monitored operational parameter(s) has exceededthe maximum operational parameter threshold or fallen below the minimumoperational parameter threshold, the implement controller(s) 116 maydetermine that the direction of travel 14 of the implement 10 should beadjusted.

Moreover, as shown in FIG. 5, at (206), the method 200 may include, whenthe monitored operational parameter exceeds or falls below the least onethreshold parameter value, initiating, with the implement-basedcomputing device, control of the operation of the valve to actuate anactuator of the implement in a manner that adjusts a direction of travelof the implement. For instance, as described above, the implementcontroller(s) 116 may be configured to transmit request signals 132 tothe vehicle controller(s) 122 requesting the vehicle controller(s) 122to control the operation of the valve(s) 130 to adjust the direction oftravel 14 of the implement 10.

This written description uses examples to disclose the technology,including the best mode, and also to enable any person skilled in theart to practice the technology, including making and using any devicesor systems and performing any incorporated methods. The patentable scopeof the technology is defined by the claims, and may include otherexamples that occur to those skilled in the art. Such other examples areintended to be within the scope of the claims if they include structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal language of the claims.

What is claimed is:
 1. A system for controlling agricultural implementtravel, the system comprising: a work vehicle including a vehicle-basedcontroller, the vehicle-based controller configured to control anoperation of a valve provided in operative association with the workvehicle; and an agricultural implement configured to be towed by thework vehicle, the implement including: a sensor configured to detect anoperational parameter indicative of a direction of travel of theimplement; an actuator configured to adjust the direction of travel ofthe implement, the actuator being fluidly coupled to the valve such thatthe valve is configured to control an operation of the actuator; and animplement-based controller supported on the implement and beingcommunicatively coupled to the sensor, the implement-based controllerbeing configured to initiate control of the operation of the valve basedon sensor data received from the sensor to adjust the direction oftravel of the implement; wherein the implement-based controller isconfigured to receive the sensor data from the sensor and transmitsignals to the vehicle-based controller requesting that thevehicle-based controller adjust the operation of the valve.
 2. Thesystem of claim 1, wherein the implement-based controller is furtherconfigured to monitor the detected operational parameter relative to apredetermined parameter range and initiate control of the operation ofthe valve to adjust the direction of travel of the implement when thedetected operational parameter exceeds a predetermined maximum parametervalue of the predetermined parameter range or falls below apredetermined minimum parameter value of the predetermined parameterrange.
 3. The system of claim 1, wherein the operational parameter isindicative of an orientation of the implement relative to one or morefeatures within a field across which the implement is being moved. 4.The system of claim 1, wherein the sensor comprises a location sensorconfigured to detect a location of the implement within a field acrosswhich the implement is moved.
 5. The system of claim 1, wherein theoperational parameter is indicative of an orientation of the implementrelative to the work vehicle.
 6. The system of claim 5, wherein the workvehicle further includes a vehicle-based location sensor configured todetect a location of the work vehicle within a field across which thework vehicle is moved.
 7. A system for controlling agriculturalimplement travel the system comprising: a work vehicle including avehicle-based controller, the vehicle-based controller configured tocontrol an operation of a valve provided in operative association withthe work vehicle; work vehicle further comprising a vehicle-basedlocation sensor configured to detect a location of the work vehiclewithin a field across which the work vehicle is moved; and anagricultural implement configured to be towed by the work vehicle, theimplement including: a sensor configured to detect an operationalparameter indicative of a direction of travel of the implement; anactuator configured to adjust the direction of travel of the implement,the actuator being fluidly coupled to the valve such that the valve isconfigured to control an operation of the actuator; and animplement-based controller supported on the implement and beingcommunicatively coupled to the sensor, the implement-based controllerbeing configured to initiate control of the operation of the valve basedon sensor data received from the sensor to adjust the direction oftravel of the implement; wherein the implement-based controller isconfigured to receive data indicative of the location of the workvehicle from the vehicle-based sensor, the implement-based controllerbeing further configured to determine the orientation of the implementrelative to the work vehicle based on the received data indicative ofthe location of the work vehicle.
 8. The system of claim 1, wherein thevehicle-based controller is configured to adjust a speed at which thework vehicle is moved across a field based on the signals received fromthe implement-based controller.
 9. The system of claim 1, wherein thevehicle-based controller is configured to ignore the signals receivedfrom the implement-based controller at least one of when a speed atwhich the work vehicle is moved across a field has fallen below apredetermined minimum speed threshold or when it is determined that aperformance of field operations has ceased.
 10. A system for controllingagricultural implement travel, the system comprising: a work vehicleincluding a vehicle-based controller, the vehicle-based controllerconfigured to control an operation of a valve provided in operativeassociation with the work vehicle; and an agricultural implementconfigured to be towed by the work vehicle, the implement including: asensor configured to detect an operational parameter indicative of adirection of travel of the implement; an actuator configured to adjustthe direction of travel of the implement, the actuator being fluidlycoupled to the valve such that the valve is configured to control anoperation of the actuator; and an implement-based controller supportedon the implement and being communicatively coupled to the sensor, theimplement-based controller being configured to initiate control of theoperation of the valve based on sensor data received from the sensor toadjust the direction of travel of the implement; wherein the implementfurther includes a frame and a track assembly coupled to the frame, theactuator being configured to adjust an orientation of the track assemblyrelative to the frame to adjust the direction of travel of theimplement.
 11. A system for controlling agricultural implement travel,the system comprising: a work vehicle including a vehicle-basedcontroller, the vehicle-based controller configured to control anoperation of a valve provided in operative association with the workvehicle; and an agricultural implement configured to be towed by thework vehicle, the implement including: a sensor configured to detect anoperational parameter indicative of a direction of travel of theimplement; an actuator configured to adjust the direction of travel ofthe implement, the actuator being fluidly coupled to the valve such thatthe valve is configured to control an operation of the actuator; and animplement-based controller supported on the implement and beingcommunicatively coupled to the sensor, the implement-based controllerbeing configured to initiate control of the operation of the valve basedon sensor data received from the sensor to adjust the direction oftravel of the implement; wherein the implement further includes a secondactuator configured to adjust a position of one or more components ofthe implement, the second actuator being fluidly coupled to the valve,the system further comprising: a splitter device fluidly coupled to thevalve, the actuator, and the second actuator, the splitter device beingconfigured to selectively divert a flow of fluid to one of the actuatoror the second actuator.
 12. The system of claim 11, wherein the splitterdevice is positioned on the implement and the implement-based controlleris configured to control an operation of the splitter device.
 13. Amethod for controlling an agricultural implement, the method comprising:monitoring, with an implement-based computing device installed on theimplement, an operational parameter indicative of a direction of travelof the implement as the implement is being towed across a field by awork vehicle, the work vehicle including a vehicle-based computingdevice configured to control an operation of a valve provided inoperative association with the work vehicle; comparing, with theimplement-based computing device, the operational parameter to at leastone threshold parameter value; and when the operational parameterexceeds or falls below the least one threshold parameter value,initiating, with the implement-based computing device, control of theoperation of the valve to an actuator of the implement in a manner thatadjusts the direction of travel of the implement, wherein theimplement-based controller receives the sensor data from the sensor andtransmit signals to the vehicle-based controller requesting that thevehicle-based controller adjust the operation of the valve.
 14. Themethod of claim 13, wherein the operational parameter is indicative ofan orientation of the implement relative to one or more features withinthe field across which the implement is being moved.
 15. The method ofclaim 13, further comprising: receiving, with the implement-basedcomputing device, data associated with a location of the implementwithin the field across which the implement is moved from a locationsensor mounted on the implement.
 16. The method of claim 13, wherein theoperational parameter is indicative an orientation of the implementrelative to the work vehicle.
 17. The method of claim 16, furthercomprising: receiving, with the implement-based computing device, dataassociated with an orientation of the implement relative to the workvehicle from an orientation sensor mounted on the implement; andreceiving, with the computing device, data associated with a location ofthe work vehicle within the field across which the work vehicle is moveda location sensor mounted on the work vehicle.
 18. The method of claim13, wherein the implement further includes a frame and a track assemblycoupled to the frame, the actuator being configured to adjust anorientation of the track assembly relative to the frame to adjust thedirection of travel of the implement.
 19. The method of claim 13,wherein the implement further includes a second actuator configured toadjust a position of one or more components of the implement, the secondactuator being fluidly coupled to the valve, the method furthercomprising: controlling, with the implement-based computing device, anoperation of a splitter device fluidly coupled to the valve, theactuator, and the second actuator, to selectively divert a flow of fluidto one of the actuator or the second actuator.